Kinematic model of multiple trailers on a tractor system for production logistics applications

Open access


This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production logistics. The analysis concerned three different steering systems of the trailers: virtual clutch and drawbar system, conventional clutch and drawbar system, double Ackermann steering system. Designed kinematic models contain various variants of paths: turning at a constant value of the steering angle, changing the steering angle as a result of an approaching collision. Each of these variants also included driving in a straight line after a 90° turn. The validation of the developed kinematic model was done by using a real logistic train, which path was registered via aerial drone. For each of the developed kinematic models, a visualization of drive through the 90° turn was created.

If the inline PDF is not rendering correctly, you can download the PDF file here.

  • [1] Altafini C.Some properties of the general n-trailer Int J Control 2001; 74: 409–424.

  • [2] Bravo-Doddoli A. Garcia-Naranjo L. The dynamics of an articulated n-trailer vehicle Regular and Chaotic Dynamics 20(5) pp.497-517 2015.

  • [3] Hou X. Yue M. Zhao J. Zhang X. An ESO-based integrated trajectory tracking control for tractor-trailer vehicles with various constraints and physical limitations International Journal of Systems Science 49(15) pp.3202-3215 2018.

  • [4] Keymasi Khalaji A. Moosavian S.A.A. Adaptive sliding mode control of a wheeled mobile robot towing a trailerIMechE 2014.

  • [5] Keymasi Khalaji A. Moosavian S.A.A. Dynamic modeling and tracking control of a car with n trailersMultibody System Dynamics 37(2) pp.211-225 2015.

  • [6] Keymasi Khalaji A. Moosavian S.A.A. Non-model based control for a wheeled mobile robot towing two trailersIMechE 2014.

  • [7] Lashkari N. Biglarbegian M. Yang S. Backstepping Tracking Control Design for a Tractor Robot Pulling Multiple Trailers Annual American Control Conference (ACC) 2018.

  • [8] Paszkowiak W. Projekt układu kinematycznego pociągu logistycznego typu mleczarz i jego walidacjaMaster Thesis Poznan University of Technology Poznań 2018.

  • [9] Rouchon P. Fliess M. LE´ Vine J. et al. Flatness and motion planning: the car with n trailers In: 2nd Europeancontrol conference Groningen NL 28 June–1 July 1993pp.1518–1522.

  • [10] Siegwart R. Nourbakhsh I. Autonomous Mobile Robots A Bradford Book London 2004 pp 47-88.

  • [11] Yue M. Hou X. Fan M. Jia R. Coordinated trajectory tracking control for an underactuated tractor-trailer vehicle via MPC and SMC approaches 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM) 2017.

  • [12] Internet portal dedicated to logistics (24.06.2018) available at:

  • [13] The official ATRES INTRALOGISTICS website (24.06.2018) available at:

  • [14] The official LKE website (24.06.2018) available at:

  • [15] The official WAMECH website (24.06.2018) available at:

Journal information
All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 60 60 8
PDF Downloads 40 40 10